129 lines
4.3 KiB
C++
129 lines
4.3 KiB
C++
//
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// Created by Иван Ильин on 13.01.2021.
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//
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#include "World.h"
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#include "utils/Log.h"
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#include "Plane.h"
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#include "ResourceManager.h"
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#include <sstream>
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#include <cmath>
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using namespace std;
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void World::addBody(std::shared_ptr<RigidBody> body) {
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_objects.emplace(body->name(), body);
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Log::log("World::addBody(): inserted body '" + body->name().str() + "' with " + std::to_string(_objects[body->name()]->triangles().size()) + " tris.");
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}
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void World::loadBody(const ObjectNameTag& tag, const string &filename, const Vec3D& scale) {
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_objects.emplace(tag, std::make_shared<RigidBody>(Mesh(tag, filename, scale)));
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Log::log("World::loadBody(): inserted body from " + filename + " with title '" + tag.str() + "' with " + std::to_string(_objects[tag]->triangles().size()) + " tris.");
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}
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IntersectionInformation World::rayCast(const Vec3D& from, const Vec3D& to, const std::string& skipTags) {
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// make vector of tags, that we are going to escape
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vector <std::string> tagsToSkip;
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stringstream s(skipTags);
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std::string t;
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while (s >> t) {
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tagsToSkip.push_back(t);
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}
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bool intersected = false;
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Vec3D point{};
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Triangle triangle;
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std::string bodyName;
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double minDistance = Consts::RAY_CAST_MAX_DISTANCE;
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std::shared_ptr<RigidBody> intersectedBody = nullptr;
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for(auto& [name, body] : _objects) {
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bool escapeThisBody = false;
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for (auto& escapeTag : tagsToSkip) {
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if (name.str().find(escapeTag) != std::string::npos) {
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escapeThisBody = true;
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break;
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}
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}
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if(escapeThisBody) {
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continue;
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}
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for(auto& tri : body->triangles()) {
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Triangle tri_translated(body->model()*tri[0] + body->position().makePoint4D(), body->model()*tri[1] + body->position().makePoint4D(), body->model()*tri[2] + body->position().makePoint4D());
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Plane plane(tri_translated);
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auto intersection = plane.intersection(from, to);
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double distance = (intersection.first - from).sqrAbs();
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if(intersection.second > 0 && distance < minDistance && tri_translated.isPointInside(intersection.first)) {
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minDistance = distance;
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point = intersection.first;
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triangle = tri_translated;
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bodyName = name.str();
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intersected = true;
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intersectedBody = body;
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}
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}
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}
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return IntersectionInformation{point, sqrt(minDistance), triangle, ObjectNameTag(bodyName), intersectedBody, intersected};
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}
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void World::loadMap(const std::string& filename, const Vec3D& scale) {
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auto objs = ResourceManager::loadObjects(filename);
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for(auto & i : objs) {
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std::shared_ptr<RigidBody> obj = std::make_shared<RigidBody>(*i);
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addBody(obj);
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obj->scale(scale);
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}
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}
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void World::removeBody(const ObjectNameTag& tag) {
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if(_objects.erase(tag) > 0) {
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Log::log("World::removeBody(): removed body '" + tag.str() + "'");
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} else {
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Log::log("World::removeBody(): cannot remove body '" + tag.str() + "': body does not exist.");
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}
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}
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void World::checkCollision(const ObjectNameTag& tag) {
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if (_objects[tag]->isCollision()) {
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_objects[tag]->setInCollision(false);
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for (auto it = _objects.begin(); it != _objects.end();) {
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auto obj = it->second;
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ObjectNameTag name = it->first;
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it++;
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if(name != tag) {
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std::pair<bool, Simplex> gjk = _objects[tag]->checkGJKCollision(obj);
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if (gjk.first) {
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if (obj->isCollider()) {
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CollisionPoint epa = _objects[tag]->EPA(gjk.second, obj);
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_objects[tag]->solveCollision(epa);
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}
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if (_objects[tag]->collisionCallBack() != nullptr) {
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_objects[tag]->collisionCallBack()(name, obj);
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}
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}
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}
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}
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}
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}
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void World::update() {
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for (auto &m : _objects) {
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m.second->updatePhysicsState();
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checkCollision(m.first);
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}
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}
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std::shared_ptr<RigidBody> World::body(const ObjectNameTag& tag) {
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if(_objects.count(tag) == 0) {
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return nullptr;
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}
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return _objects.find(tag)->second;
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}
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